<html>
<head>
<link href="../../../Objects/sofa_white.css" rel="stylesheet" type="text/css" />
</head>
<body>
	<div id="contenu">		
	        <center><img src="data/pics/tooth.png"  name="Tooth" align="middle">

		<h3>Instrument visual model</h3></center>

		<div id="orangeText">Description:</div>
		<br>
		Using LCP contact detection and resolution:<br>
		Added a driver for the Omni phantom device <br>
		Added a mechanical state controller that gathers data from the phantom and updates the position of a representation of the device in the simulation <br>
		Added a computation (LCPForceFeedback) of the haptic forces <br>
		Added VectorSpringForceField && JointSpringForceField to link the movements of the Omni phantom and the instrument<br>

		<br><center><h3><a href="dentalSurgery_05a.scn">Redo this tutorial with distance grid collision</a></center></h3>


</body>
</html>
